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Add paramsd Stdev to message (#22443)

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* add STD to message

* use modified names for car_kf state stdev atttributes

* update refs

* add modofied cereal

* update refs
old-commit-hash: 244fbde56e90a937c887b3a24edce7da2ee5c699
This commit is contained in:
Vivek Aithal
2021-10-06 16:22:18 -07:00
committed by GitHub
parent ccb06114e4
commit c0ff654602
3 changed files with 7 additions and 2 deletions
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selfdrive/locationd/paramsd.py
+5
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@@ -139,6 +139,7 @@ def main(sm=None, pm=None):
if sm.updated['liveLocationKalman']:
x = learner.kf.x
P = np.sqrt(learner.kf.P.diagonal())
if not all(map(math.isfinite, x)):
cloudlog.error("NaN in liveParameters estimate. Resetting to default values")
learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
@@ -162,6 +163,10 @@ def main(sm=None, pm=None):
0.2 <= msg.liveParameters.stiffnessFactor <= 5.0,
min_sr <= msg.liveParameters.steerRatio <= max_sr,
))
msg.liveParameters.steerRatioStd = float(P[States.STEER_RATIO])
msg.liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])
msg.liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET])
msg.liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST])
if sm.frame % 1200 == 0: # once a minute
params = {